EP3347276B1 - Systèmes d'atterrissage et d'accueil d'aéronef de type drone - Google Patents

Systèmes d'atterrissage et d'accueil d'aéronef de type drone Download PDF

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Publication number
EP3347276B1
EP3347276B1 EP16845152.4A EP16845152A EP3347276B1 EP 3347276 B1 EP3347276 B1 EP 3347276B1 EP 16845152 A EP16845152 A EP 16845152A EP 3347276 B1 EP3347276 B1 EP 3347276B1
Authority
EP
European Patent Office
Prior art keywords
base portion
aircraft
protrusions
docking station
landing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16845152.4A
Other languages
German (de)
English (en)
Other versions
EP3347276A4 (fr
EP3347276A1 (fr
Inventor
Reese Alexander Mozer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
American Robotics Inc
Original Assignee
American Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by American Robotics Inc filed Critical American Robotics Inc
Publication of EP3347276A1 publication Critical patent/EP3347276A1/fr
Publication of EP3347276A4 publication Critical patent/EP3347276A4/fr
Application granted granted Critical
Publication of EP3347276B1 publication Critical patent/EP3347276B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/24—Adaptations of turntables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/97—Means for guiding the UAV to a specific location on the platform, e.g. platform structures preventing landing off-centre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/30—Transport or storage specially adapted for UAVs with arrangements for data transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the present disclosure relates to unmanned and drone aircraft, more specifically to landing and docking systems for unmanned aircraft (e.g., multirotor copters).
  • unmanned aircraft e.g., multirotor copters
  • VTOL vertical take-off and land
  • multirotor copters e.g., quad copters
  • similar aircraft can be configured to charge and/or transfer data through a suitable docking station.
  • Such aircraft can be manually flown to and/or placed onto such a docking station for charging/data transfer.
  • Certain types of these aircraft can be configured as autonomous drones that include software such that the drone can perform one or more functions on its own (e.g., flying a particular route, taking off, landing).
  • These systems can employ GPS navigational mechanisms, vision sensors, distance sensors, or the like.
  • Document EP 1 767 453 A1 discloses an autonomous micro air vehicle surveillance system with a flat launching surface adapted to support a vertical takeoff and landing air vehicle.
  • Document EP 2 218 642 A2 discloses an aircraft base retrieval apparatus, including a docking receptacle.
  • Document US 2011/0174925 A1 discloses a mobile helicopter landing pad with a platform with one or more elongate concave guiding channels for aligning a helicopter on the landing pad by forcing the helicopter's skates into a specific alignment upon landing.
  • the guiding channels may have laterally disposed rollers or else be made of slick material to allow the helicopter to slide towards the base of the guiding channel under the helicopter's own weight.
  • Document CN 104 760 705 A discloses a vehicle-mounted aircraft taking-off and landing device.
  • the device comprises an airborne device and a vehicle-mounted device, wherein the airborne device is arranged at the bottom of an aircraft, and comprises a landing convex base, a traction device, a traction ball, an electric winch and a taking-off and landing controller.
  • Document JP 2015 042539 A discloses a helicopter landing system with a battery exchange device.
  • Document US 2015/175276 A1 discloses a unmanned aerial vehicle delivery apparatus with a support structure comprising a bottom end and a top end, wherein the bottom end is securable to a surface to secure the support structure in an upright position.
  • Such software, sensors, and related systems inherently include positional errors that lead to misalignment of the drone relative to the docking station.
  • Such misalignment can prevent the drone from making a physical or electromagnetic connection with the docking station, thereby preventing data transfer, object retrieval (e.g., for package delivery), safe enclosure of system, and/or charging of the drone's battery without manual intervention.
  • a docking station for an aircraft includes a base portion and an alignment system disposed on the base portion configured to orient the aircraft relative to the base portion.
  • the alignment system includes a plurality of outer and inner protrusions extending away from the base portion in a vertical direction, or a single protrusion mimicking the three-dimensional shape formed by the plurality of protrusions.
  • the plurality of outer and inner protrusions extends away from the base portion in both the vertical direction and a horizontal direction such that the outer and inner protrusions extend from the base portion at an angle.
  • the outer protrusions include a ramp shape and are angled toward a middle of the base portion such that the ramp shape angles down toward the middle of the base portion.
  • the inner protrusions include a ramp shape and are angled away from a middle of the base portion such that the ramp shape angles down away from the middle of the base portion.
  • the outer protrusions are circumferentially disposed about the middle of the base portion to form an outer periphery of a landing area and to register the aircraft toward a middle of the base portion.
  • the inner protrusions can be circumferentially disposed at the middle of the base portion to form an inner periphery of the landing area and to register the aircraft toward a middle of the base portion.
  • the docking station can further include a landing platform at the middle of the base portion disposed at an upper end of the inner protrusions, as well as a landing platform between the inner and outer protrusions disposed at the lower end of the inner and outer protrusions.
  • the landing platform can include a charging system operatively associated therewith and configured to electrically couple to the aircraft to charge a battery of the aircraft.
  • the landing platform includes a data transfer system operatively associated therewith and configured to communicate with the aircraft.
  • the outer protrusions and the inner protrusions can meet at the base portion.
  • One or more of the outer protrusions and/or inner protrusions can be covered with a covering material (e.g., sheet metal, paper, cloth, plastic, etc., to form an enclosed bowl), or this solid shape can be mimicked with a single, solid three dimensional protrusion.
  • FIG. 1 An illustrative view of an embodiment of a docking station in accordance with the disclosure is shown in Fig. 1 .
  • FIG. 2-10 Other embodiments and/or aspects of this disclosure are shown in Figs. 2-10 .
  • the systems and methods described herein can be used to improve aircraft alignment when landing at a docking station (e.g., for autonomous quad-copters or the like).
  • a docking station for an aircraft includes a base portion and an alignment system disposed on the base portion configured to orient the aircraft relative to the base portion.
  • the alignment system can include a plurality of outer and inner protrusions extending away from the base portion in a vertical direction, or a single protrusion mimicking the three-dimensional shape formed by the plurality of extrusions.
  • the plurality of outer and inner protrusions extend away from the base portion in both the vertical direction and a horizontal direction such that the outer and inner protrusions extend from the base portion at an angle.
  • the outer protrusions include a ramp shape and are angled toward a middle of the base portion such that the ramp shape angles down toward the middle of the base portion.
  • the inner protrusions include a ramp shape and are angled away from a middle of the base portion such that the ramp shape angles down away from the middle of the base portion.
  • the outer protrusions arecircumferentially disposed about the middle of the base portion to form an outer periphery of a landing area and to register the aircraft toward a middle of the base portion.
  • the inner protrusions are circumferentially disposed at the middle of the base portion to form an inner periphery of the landing area and to register the aircraft toward a middle of the base portion.
  • These inner protrusions can work in tandem with the outer protrusion to ensure level descent of the vehicle. In other words, the inner and outer protrusions work together to ensure at least two points of contact on between the landing gear of opposite sides of the aircraft and the protrusion surfaces during descent.
  • the docking station can further include a landing platform at the middle of the base portion disposed at an upper end of the inner protrusions, as well as a landing platform between the inner and outer protrusions disposed at the lower end of the inner and outer protrusions.
  • the landing platform can include a charging system operatively associated therewith and configured to electrically couple to the aircraft to charge a battery of the aircraft.
  • the landing platform includes a data transfer system operatively associated therewith and configured to communicate with the aircraft.
  • the outer protrusions and the inner protrusions can meet at the base portion. As shown in Fig. 1-3 , one or more of the outer protrusions and/or inner protrusions are covered with a covering material (e.g., sheet metal, paper, cloth, plastic, etc., to form an enclosed bowl), or this solid shape can be mimicked with a single, solid three dimensional protrusion. As shown in Figs. 4-10 , the docking station can include a skeleton frame design without the need for walls or other covering. It is contemplated that the docking station can include a ring connecting the outer protrusions as an upper end thereof as shown in Figs. 4-10 .
  • a covering material e.g., sheet metal, paper, cloth, plastic, etc.
  • the docking station can be configured for use with any VTOL aircraft (e.g., an autonomous quad-copter) such that it is a VTOL aircraft docking station.
  • a quad-copter can include a body portion and four arms extending therefrom, each arm configured to hold a motor and propeller (not shown) for lifting and controlling the quad-copter.
  • the quad-copter can include a circular landing gear mounted on quad-copter to achieve to improve landing performance within the docking station. Any other suitable landing gear compatible with the landing platform dimensions of the docking station is contemplated herein.
  • the quad-copter can position itself or can be positioned by a user over the docking station imperfectly due to inherent errors in the precision of autonomous navigation and/or control software and/or or manual user error (e.g., as shown in Fig. 8 ).
  • the quad-copter When the quad-copter reaches its lowest point at the center, between the inner and outer protrusions, and rests on the landing platform, it can be put into communication with the charging system and/or data transfer system by being medialised and/or oriented properly (as shown in Figs. 9 and 10 ).

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Air Bags (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Structure Of Receivers (AREA)
  • Details Of Aerials (AREA)

Claims (6)

  1. Station d'accueil destinée à un aéronef, comprenant :
    une partie de base ; et
    un dispositif d'alignement disposé sur la partie de base, configuré de manière à orienter l'aéronef par rapport à la partie de base, dans laquelle le dispositif d'alignement comporte une pluralité de saillies internes et externes s'étendant à l'opposé de la partie de base dans une direction verticale ou une seule saillie simulant une enveloppe tridimensionnelle formée par la pluralité de saillies internes et externes, dans laquelle la pluralité de saillies internes et externes s'étend à l'opposé de la partie de base à la fois suivant la direction verticale et une direction horizontale de telle sorte que les saillies externes s'étendent à partir de la partie de base sous un certain angle, dans laquelle les saillies externes présentent une forme en rampe et sont inclinées vers le milieu de la partie de base de telle sorte que la forme en rampe est inclinée vers le bas vers le milieu de la partie de base,
    dans laquelle les saillies internes présentent une forme en rampe et sont inclinées à l'opposé d'un milieu de la partie de base de telle sorte que la forme en rampe est inclinée vers le bas à l'opposé du milieu de la partie de base,
    caractérisée en ce que les saillies internes sont disposées de manière circonférentielle au milieu de la partie de base afin de former une périphérie interne de la zone d'atterrissage et de recevoir l'aéronef vers le milieu de la partie de base, et en ce que les saillies externes sont disposées circonférentiellement autour du milieu de la partie de base afin de former une périphérie externe d'une zone d'atterrissage et de recevoir l'aéronef vers le milieu de la partie de base.
  2. Station d'accueil selon la revendication 1, comprenant, en outre, une plate-forme d'atterrissage au milieu de la partie de base, disposée au niveau d'une extrémité supérieure des saillies externes.
  3. Station d'accueil selon la revendication 2, dans laquelle la plate-forme d'atterrissage est associée de manière opérationnelle à un dispositif de charge configuré de manière à se coupler électriquement à l'aéronef afin de charger la batterie de l'aéronef.
  4. Station d'accueil selon la revendication 3, dans laquelle la plate-forme d'atterrissage est associée de manière opérationnelle à un dispositif de transfert de données configuré afin de communiquer avec l'aéronef.
  5. Station d'accueil selon la revendication 1, dans laquelle les saillies externes et les saillies internes convergent au niveau de la partie de base.
  6. Station d'accueil selon la revendication 1, dans laquelle une ou plusieurs des saillies externes et/ou saillies externes sont recouvertes d'un matériau de revêtement.
EP16845152.4A 2015-09-11 2016-09-09 Systèmes d'atterrissage et d'accueil d'aéronef de type drone Active EP3347276B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562217318P 2015-09-11 2015-09-11
PCT/US2016/051027 WO2017044798A1 (fr) 2015-09-11 2016-09-09 Systèmes d'atterrissage et d'accueil d'aéronef de type drone

Publications (3)

Publication Number Publication Date
EP3347276A1 EP3347276A1 (fr) 2018-07-18
EP3347276A4 EP3347276A4 (fr) 2019-05-01
EP3347276B1 true EP3347276B1 (fr) 2021-11-17

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Family Applications (1)

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EP16845152.4A Active EP3347276B1 (fr) 2015-09-11 2016-09-09 Systèmes d'atterrissage et d'accueil d'aéronef de type drone

Country Status (7)

Country Link
US (1) US10577126B2 (fr)
EP (1) EP3347276B1 (fr)
AU (1) AU2016321289B2 (fr)
BR (1) BR112018004732B1 (fr)
CA (1) CA2998415C (fr)
ES (1) ES2902933T3 (fr)
WO (1) WO2017044798A1 (fr)

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AU2016321289A1 (en) 2018-04-05
US20170073084A1 (en) 2017-03-16
AU2016321289B2 (en) 2020-12-24
EP3347276A4 (fr) 2019-05-01
BR112018004732A2 (pt) 2018-09-25
ES2902933T3 (es) 2022-03-30
BR112018004732B1 (pt) 2023-03-07
WO2017044798A1 (fr) 2017-03-16
CA2998415C (fr) 2023-10-03
CA2998415A1 (fr) 2017-03-16
US10577126B2 (en) 2020-03-03
EP3347276A1 (fr) 2018-07-18

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